diff --git a/.mcuxpressoide_packages_support/info.properties b/.mcuxpressoide_packages_support/info.properties
index 4ba8becb3e76996e863847896311315eaf00e0ca..be7d125a480cdc097230f72c15b7346449c26559 100644
--- a/.mcuxpressoide_packages_support/info.properties
+++ b/.mcuxpressoide_packages_support/info.properties
@@ -1,5 +1,5 @@
#MCUXpresso IDE
-#Wed Mar 19 11:08:44 CET 2025
+#Wed Apr 02 09:41:42 CEST 2025
product.name=MCUXpresso IDE v11.10.0 [Build 3148] [2024-07-03]
product.version=11.10.0
product.build=3148
diff --git a/G3_TP1_labyrinth_etu/src/accelerometer.h b/G3_TP1_labyrinth_etu/src/accelerometer.h
index b0647413eac2d5ca4c0adfc8f545a05c108cd000..7da74982041d29adfcf78544806ffd32e01291e5 100644
--- a/G3_TP1_labyrinth_etu/src/accelerometer.h
+++ b/G3_TP1_labyrinth_etu/src/accelerometer.h
@@ -76,6 +76,13 @@ typedef struct
int16_t temperature;
} accel_t;
+typedef struct
+{
+ int16_t accel_x;
+ int16_t accel_y;
+ int16_t accel_z;
+} accel_fx_t;
+
int accel_init(void);
/*
@@ -84,6 +91,7 @@ int accel_init(void);
* Return: ACC_NOERROR if no error or error code
*/
int accel_read(accel_t *accel);
+int accel_read_fx(accel_fx_t *accel);
#endif /* ACCELEROMETER_H_ */
diff --git a/G3_TP1_labyrinth_etu/src/custom_rand.h b/G3_TP1_labyrinth_etu/src/custom_rand.h
index 08d1f799f60f3431802a6008cd95f4bed0a0cc96..70d036863bd98c708dfd905cc0fa0b07b860f277 100644
--- a/G3_TP1_labyrinth_etu/src/custom_rand.h
+++ b/G3_TP1_labyrinth_etu/src/custom_rand.h
@@ -1,5 +1,11 @@
-//---------------------------------------------------------------------------
-
+/*
+ * crc.h
+ *
+ * Pseudo random algorithm. Should be used instead of rand() which is wrongly implemented.
+ *
+ * Created on: sept 2020
+ * Author: V. Pilloux
+ */
#ifndef custom_randH
#define custom_randH
//---------------------------------------------------------------------------
diff --git a/G3_TP1_labyrinth_etu/src/ethmac.h b/G3_TP1_labyrinth_etu/src/ethmac.h
index 86c0018b4367c6bccab85c65eae3c4cb0e65fb06..f64c4933eb8596e33beaf27170a8759732563452 100644
--- a/G3_TP1_labyrinth_etu/src/ethmac.h
+++ b/G3_TP1_labyrinth_etu/src/ethmac.h
@@ -1,13 +1,15 @@
/******************************************************************
***** *****
- ***** Name: cs8900.h *****
+ ***** Name: ethmac.h *****
***** Ver.: 1.0 *****
***** Date: 07/05/2001 *****
+ ***** last release: 13.4.2018
***** Auth: Andreas Dannenberg *****
***** HTWK Leipzig *****
***** university of applied sciences *****
***** Germany *****
- ***** adannenb@et.htwk-leipzig.de *****
+ ***** adannenb@et.htwk-leipzig.de
+ ***** V. Pilloux *****
***** Func: header-file for cs8900.c *****
***** *****
******************************************************************/
@@ -20,6 +22,8 @@
#ifndef __ETHMAC_H
#define __ETHMAC_H
+#include <stdbool.h>
+
#define MYMAC_1 1 // our ethernet (MAC) address
#define MYMAC_2 2 // (MUST be unique in LAN!)
#define MYMAC_3 3
@@ -27,39 +31,23 @@
#define MYMAC_5 5
#define MYMAC_6 6
+#define NUM_FRAG 2 // forced to 2 as double buffering is required in this implementation
+
+typedef struct {
+ unsigned char *packet;
+ unsigned ctrl;
+} desc_t;
+
+typedef struct {
+ unsigned info;
+ unsigned hash;
+} stat_t;
+
+typedef struct {
+ desc_t desc[NUM_FRAG];
+ stat_t stat[NUM_FRAG];
+} eth_t;
-// *******
-// CodeRed - defines for LPC1768 ethernet
-// *******
-
-/* EMAC Memory Buffer configuration for 16K Ethernet RAM. */
-#define NUM_RX_FRAG 4 /* Num.of RX Fragments 4*1536= 6.0kB */
-#define NUM_TX_FRAG 2 /* Num.of TX Fragments 3*1536= 4.6kB */
-#define ETH_FRAG_SIZE 1536 /* Packet Fragment size 1536 Bytes */
-
-#define ETH_MAX_FLEN 1536 /* Max. Ethernet Frame Size */
-
-/* EMAC variables located in AHB SRAM bank 1*/
-// Below is base address for first silicon
-//#define RX_DESC_BASE 0x20004000
-// Below is base address for production silicon
-#define RX_DESC_BASE 0x2007c000
-#define RX_STAT_BASE (RX_DESC_BASE + NUM_RX_FRAG*8)
-#define TX_DESC_BASE (RX_STAT_BASE + NUM_RX_FRAG*8)
-#define TX_STAT_BASE (TX_DESC_BASE + NUM_TX_FRAG*8)
-#define RX_BUF_BASE (TX_STAT_BASE + NUM_TX_FRAG*4)
-#define TX_BUF_BASE (RX_BUF_BASE + NUM_RX_FRAG*ETH_FRAG_SIZE)
-
-/* RX and TX descriptor and status definitions. */
-#define RX_DESC_PACKET(i) (*(unsigned int *)(RX_DESC_BASE + 8*i))
-#define RX_DESC_CTRL(i) (*(unsigned int *)(RX_DESC_BASE+4 + 8*i))
-#define RX_STAT_INFO(i) (*(unsigned int *)(RX_STAT_BASE + 8*i))
-#define RX_STAT_HASHCRC(i) (*(unsigned int *)(RX_STAT_BASE+4 + 8*i))
-#define TX_DESC_PACKET(i) (*(unsigned int *)(TX_DESC_BASE + 8*i))
-#define TX_DESC_CTRL(i) (*(unsigned int *)(TX_DESC_BASE+4 + 8*i))
-#define TX_STAT_INFO(i) (*(unsigned int *)(TX_STAT_BASE + 4*i))
-#define RX_BUF(i) (RX_BUF_BASE + ETH_FRAG_SIZE*i)
-#define TX_BUF(i) (TX_BUF_BASE + ETH_FRAG_SIZE*i)
/* MAC Configuration Register 1 */
#define MAC1_REC_EN 0x00000001 /* Receive Enable */
@@ -333,13 +321,11 @@
#define LAN8720_ID 0x0007C0F0 /* PHY Identifier */
-void Init_EthMAC(void);
-void RequestSend(unsigned short FrameSize);
-unsigned short StartReadingFrame(void);
-void StopReadingFrame(void);
-unsigned int CheckIfFrameReceived(void);
-void WriteFrame_EthMAC(unsigned char Data);
-unsigned char ReadFrame_EthMAC(void);
+void init_eth_mac(unsigned char *tx_double_buf, int double_len_tx, unsigned char *rx_double_buf,
+ int double_len_rx);
+bool if_frame_rec(void);
+
+// power off the Ethernet module. Useful on LPC1769 board to remove glitches on power supply
void ethernet_power_down(void);
diff --git a/G3_TP1_labyrinth_etu/src/fonts.h b/G3_TP1_labyrinth_etu/src/fonts.h
index 602ae770ff158d01c9526709b2d73b3e2ef57e34..08bbf3551931b061d784adddeb67ba2e0a374d3b 100644
--- a/G3_TP1_labyrinth_etu/src/fonts.h
+++ b/G3_TP1_labyrinth_etu/src/fonts.h
@@ -2,7 +2,7 @@
* fonts.h
*
* Created on: 19 avr. 2016
- * Author: cma
+ * Author: cma
*/
#ifndef INC_FONTS_H_
@@ -12,7 +12,7 @@
extern fontdatatype SmallFont[];
extern fontdatatype BigFont[];
-#define SMALLFONT 0
-#define BIGFONT 1
+#define SMALLFONT 0 // Font Size : 8x12
+#define BIGFONT 1 // Font Size : 16x16
#endif /* INC_FONTS_H_ */
diff --git a/G3_TP1_labyrinth_etu/src/labyrinth.c b/G3_TP1_labyrinth_etu/src/labyrinth.c
index 7c9f50ffd2a0351c1232683bd2bb6459863ff1e4..b8ad1d727be9566e593fd402d3dc85af7824dd72 100644
--- a/G3_TP1_labyrinth_etu/src/labyrinth.c
+++ b/G3_TP1_labyrinth_etu/src/labyrinth.c
@@ -85,6 +85,9 @@ static coord_fx_t labyrinth_points[]={
void slave_info_rx(void *data, int len)
{
// code executed when the slave sends an ethernet frame
+ if(len == sizeof(master_tx_t)){
+ master_tx_t mstr = (master_tx_t)data;
+ }
}
void Algo_main_ball(void *params);
@@ -112,7 +115,7 @@ int main(void)
//ethernet_init(..., slave_info_rx); // initialise ethernet and determine its callback function
draw_labyrinth(labyrinth_points);
- init_traces(115200, 1, true); // initialise traces. Line to be removed if you implement your own traces
+ init_traces(115200, 1, false, true); // initialise traces. Line to be removed if you implement your own traces
accel_read(&ball_accel); // example: reading of the accelerometer
@@ -215,7 +218,7 @@ void Algo_main_ball(void *params){
ball->ball.pos.y = (LCD_MAX_HEIGHT - (ball->ball.radius+1));
}
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
- vTaskDelay((portTickType)20/portTICK_RATE_MS);
+ vTaskDelay((portTickType)ball->ball.period/portTICK_RATE_MS);
}
}
@@ -297,7 +300,7 @@ void Algo_bots(void *params){
ball->ball.pos.y = (LCD_MAX_HEIGHT - (ball->ball.radius+1));
}
lcd_filled_circle(round(ball->ball.pos.x), round(ball->ball.pos.y), ball->ball.radius, ball->ball.color);
- vTaskDelay((portTickType)20/portTICK_RATE_MS);
+ vTaskDelay((portTickType)ball->ball.period/portTICK_RATE_MS);
}
}
diff --git a/G3_TP1_labyrinth_etu/src/lcd.h b/G3_TP1_labyrinth_etu/src/lcd.h
index b07e4d8f7f58be869289a33ac38e1667e4cf321e..65a7ab8401884222bac8b1635d1cd2b20c281973 100644
--- a/G3_TP1_labyrinth_etu/src/lcd.h
+++ b/G3_TP1_labyrinth_etu/src/lcd.h
@@ -204,6 +204,12 @@ uint16_t *read_bmp_file(char *filename, uint16_t *width, uint16_t *height);
*/
void display_bitmap16(uint16_t *bitmap, uint16_t x, uint16_t y, uint16_t width, uint16_t height);
+/* Description: save the whole screen in a ppm file
+ * Parameter: filename: name of the file to save. The file extension must be *.ppm.
+ * Note: the execution time of this function is long due to the use of fprintf()
+*/
+void save_screen_to_ppm(char *filename);
+
/* Description: get pixel colors in a rectangle (16 bits format)
* Parameter: x1: horizontal position of the top left corner
* y1: vertical position of the top left corner
diff --git a/G3_TP1_labyrinth_etu/src/ssp.h b/G3_TP1_labyrinth_etu/src/ssp.h
index 5584d85c06dbd3cb32c8d21c4c88a7bd509a14a2..b95764e23cd883cc1727e931a339060988e0577f 100644
--- a/G3_TP1_labyrinth_etu/src/ssp.h
+++ b/G3_TP1_labyrinth_etu/src/ssp.h
@@ -1,8 +1,13 @@
/*
- * ssp.h
+ * ssp.h
*
- * Created on: 12 mars 2014
- * Author: christian
+ * SSP driver. DMA can be used with a callback. Channels 2 and 3 are used.
+ * WARNING: please add #include "dma_handler.h" ONLY ONCE somewhere in your code
+ * to use DMA features. This way a the unique ISR for DMA will be declared
+ * by Mylab library and be usable.
+ *
+ * Created on: sept. 2020
+ * Author: VP
*/
#ifndef SSP_H_
@@ -16,9 +21,30 @@
#define SSPSR_RFF (1 << 3)
#define SSPSR_BSY (1 << 4)
+#define DMA_SSP_BAD_LENGTH -10
+#define DMA_SSP_OK 0
+
+typedef void (*ssp_dma_callback_t)(int err_stat);
+
+/* Description: setup a SSP port, possibly using DMA if a callback is defined.
+ * Parameters: spi_port: LPC_SSP0 or LPC_SSP1
+ * data_size_select: nb of bits/word of the transfer (example: 8)
+ * scr: fix SSP CLK freq as: 50 MHz / (scr+1)
+ * callback: callback function called when a DMA transfer is finished
+ * NULL otherwise.
+ */
+void ssp_init(LPC_SSP_TypeDef *spi_port, uint8_t data_size_select, uint8_t scr, ssp_dma_callback_t callback);
+
+
+// standard TX/RX functions with polling (no DMA)
+void ssp_send_buf(LPC_SSP_TypeDef *spi_port, uint8_t *buf, uint32_t length);
+void ssp_receive_buf(LPC_SSP_TypeDef *spi_port, uint8_t *buf, uint32_t length);
+uint8_t ssp_receive(LPC_SSP_TypeDef *spi_port);
+
+// DMA transfer from an SSP port to the memory: "callback" is called when the transfer ends
+int dma_copy_ssp_to_mem(LPC_SSP_TypeDef *spi_port, uint8_t *bytes, uint16_t bytes_len);
-void ssp_init_custom(uint8_t data_size_select, uint8_t scr);
-void ssp_send_buf(uint8_t *buf, uint32_t length);
-void ssp_receive_buf(uint8_t *buf, uint32_t length);
+// DMA transfer from SSP1 to SSP0 ports. "callback" is called when the transfer ends
+int dma_copy_ssp1_to_ssp0(uint16_t bytes_len);
#endif /* SSP_H_ */
diff --git a/G3_TP1_labyrinth_etu/src/traces_ref.h b/G3_TP1_labyrinth_etu/src/traces_ref.h
index 814d3d157d10627fa2e0718452b19b9597559b10..710b34ffbe8382a95e90b376af0c20dd3037b5ae 100644
--- a/G3_TP1_labyrinth_etu/src/traces_ref.h
+++ b/G3_TP1_labyrinth_etu/src/traces_ref.h
@@ -19,9 +19,11 @@
* if interrupts are enabled.
* Parameters: baudrate: valid UART baudrate [bit/s]
* timer_id: 0 to 3 to identify the timer used as a free running counter
+ * short_traces: if true, enables TX short traces (only 5 bytes instead of 8). The time tick is 5 us.
+ * if false, long traces are enabled with a tick of 40 ns. See format description below.
* interrupt_enabled: enable UART0 interrupt if true
*/
-void init_traces(uint32_t baudrate, int timer_id, bool interrupt_enabled);
+void init_traces(uint32_t baudrate, int timer_id, bool short_traces, bool interrupt_enabled);
/* Description: store a trace in a memory buffer
*
@@ -35,11 +37,17 @@ void write_trace_ref(uint8_t trace_id, short val);
void send_traces_to_uart0(void);
// trace structure
+/* if long traces are enabled, time is a 32 bits field containing the number of time ticks elapsed at 40 ns
+ * if short traces enabled, the 'time' field is coded as follows:
+ * - bit 0 gives signal activation (0 or 1),
+ * - bits 5:1 signal ID,
+ * - bits 31:6 time ticks of 5 us
+ * 'sig_idx' and 'val' are ignored */
typedef struct {
uint8_t synchro;
uint8_t sig_idx; /* bit 8 indicates other traces than VCD */
short val;
- uint32_t time;
+ uint32_t time; /* see comment above */
} trace_t;
#endif
diff --git a/G3_TP1_labyrinth_etu/src/uart.h b/G3_TP1_labyrinth_etu/src/uart.h
index ccd49ea0b9d00e460ae60ef185d8f1e6842380ad..540b265140442e79a0c94f37056b67ee168acfb4 100644
--- a/G3_TP1_labyrinth_etu/src/uart.h
+++ b/G3_TP1_labyrinth_etu/src/uart.h
@@ -12,7 +12,7 @@
#define IIR_TX 0x2 // interrupt identification flags
#define IIR_RX 0x4
#define IS_TX_EMPTY (1<<5) // status flags on LSR register
-#define IS_RX_NOT_EMPTY (1<<2)
+#define IS_RX_NOT_EMPTY (1<<0)
/* Callback function prototype for UART interrupt */
typedef void (*uart_callback_t)(int int_status);
@@ -44,6 +44,10 @@ void uart0_init_ref(uint32_t baudrate, uart_callback_t tx_callback, uart_callbac
*/
void uart0_send_ref(uint8_t *data, uint32_t length);
+/* Description: Block until receiving one byte (polling)
+* Return: byte read */
+char uart0_rec_byte_ref();
+
/* Description: stop UART0 interrupts. The switch off is only managed by the VIC. */
void uart0_stop_interrupt();
diff --git a/G3_TP1_labyrinth_slave_etu/src/labyrinth_slave.c b/G3_TP1_labyrinth_slave_etu/src/labyrinth_slave.c
index ac49ec0041de70ee25585a5b32e0f5a38dd8afa3..72cb713f56cf3383d2721ff35b87a213d35d3946 100644
--- a/G3_TP1_labyrinth_slave_etu/src/labyrinth_slave.c
+++ b/G3_TP1_labyrinth_slave_etu/src/labyrinth_slave.c
@@ -47,6 +47,10 @@ static coord_fx_t labyrinth_points[]={
};
+master_tx_t *mstr_now;
+master_tx_t *mstr_prev;
+bool flag = false;
+
/* Description: Callback of ethernet module. This function is called when a message is received.
* Each ball of the master send its own coordinates that are saved here.
* Parameters: data: pointer on data received
@@ -54,9 +58,20 @@ static coord_fx_t labyrinth_points[]={
*/
void master_info_rx(void *data, int len)
{
- // receive master_tx structure
+ if(len == sizeof(master_tx_t)){
+ if (mstr_now != NULL){
+ mstr_prev = mstr_now;
+ }
+ mstr_now = (master_tx_t*)data;
+ /*if(mstr_prev == NULL){
+ mstr_now = mstr_prev;
+ }*/
+ flag = true;
+ }
}
+
+
int main(void)
{
init_lcd();
@@ -65,12 +80,22 @@ int main(void)
printf("Accelerometer initialisation failed!\n");
return 1;
}
- //ethernet_init(..., master_info_rx);
+ master_tx_t double_buf_rx;
+ master_tx_t double_buf_tx;
+ int len_rx = sizeof(master_tx_t)*2;
+ int len_tx = 1;
+
+ ethernet_init(NULL, 0, &double_buf_rx, len_rx, master_info_rx);
draw_labyrinth(labyrinth_points);
while(1)
{
+ if(flag){
+ lcd_filled_circle(mstr_prev->ball_coord.x, mstr_prev->ball_coord.y, mstr_prev->radius, LCD_BLACK);
+ lcd_filled_circle(mstr_now->ball_coord.x, mstr_now->ball_coord.y, mstr_now->radius, mstr_now->color);
+ flag = false;
+ }
}
}